2022-07-20 11:11:38 +08:00
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#ifndef CARTESIAN_H
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#define CARTESIAN_H
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#include "FSM/FSMState.h"
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class State_Cartesian : public FSMState{
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public:
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State_Cartesian(CtrlComponents *ctrlComp);
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~State_Cartesian(){}
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void enter();
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void run();
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void exit();
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int checkChange(int cmd);
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private:
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double _posSpeed;
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double _oriSpeed;
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Vec3 _omega;
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Vec3 _velocity;
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Vec6 _twist;
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HomoMat _endHomoGoal, _endHomoGoalPast;
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2022-09-13 19:53:15 +08:00
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Vec6 _endPostureGoal, _endPosturePast, _endPostureDelta;
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2022-07-20 11:11:38 +08:00
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HomoMat _endHomoFeedback;
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Vec6 _Pdes;
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Vec6 _Pfd;
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Vec6 _Pkp;
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};
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#endif // CARTESIAN_H
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